{"title":"a - 3","authors":"L. Falkenstein, S. Stapleford, Molly Kao","doi":"10.4324/9781003026532-11","DOIUrl":null,"url":null,"abstract":"This paper reports the experimental results of the dynamic modelling using MIMO closed-loop system identification, controller design and implementation for hovering flight of a radiocontrolled helicopter. The helicopter is set on our handcrafted supporting device, and it has the roll, side-to-side and up-and-down motions that controlled by the aileron and the throttle. Several dynamic models with defferent orders are derived from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP). Then, we compared their model with the real system, and LQR with a full state observer is designed and implemented.","PeriodicalId":208547,"journal":{"name":"Logic Works","volume":"60 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A-3\",\"authors\":\"L. Falkenstein, S. Stapleford, Molly Kao\",\"doi\":\"10.4324/9781003026532-11\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper reports the experimental results of the dynamic modelling using MIMO closed-loop system identification, controller design and implementation for hovering flight of a radiocontrolled helicopter. The helicopter is set on our handcrafted supporting device, and it has the roll, side-to-side and up-and-down motions that controlled by the aileron and the throttle. Several dynamic models with defferent orders are derived from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP). Then, we compared their model with the real system, and LQR with a full state observer is designed and implemented.\",\"PeriodicalId\":208547,\"journal\":{\"name\":\"Logic Works\",\"volume\":\"60 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2021-11-11\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Logic Works\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.4324/9781003026532-11\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Logic Works","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.4324/9781003026532-11","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
This paper reports the experimental results of the dynamic modelling using MIMO closed-loop system identification, controller design and implementation for hovering flight of a radiocontrolled helicopter. The helicopter is set on our handcrafted supporting device, and it has the roll, side-to-side and up-and-down motions that controlled by the aileron and the throttle. Several dynamic models with defferent orders are derived from closed-loop system identification experiments with the MOESP-type closed-loop subspace model identification method (CL-MOESP). Then, we compared their model with the real system, and LQR with a full state observer is designed and implemented.
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